/*
 * Copyright 2017 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_MAPPING_MAP_BUILDER_INTERFACE_H_
#define CARTOGRAPHER_MAPPING_MAP_BUILDER_INTERFACE_H_

#include <set>
#include <string>
#include <vector>

#include "Eigen/Geometry"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/port.h"
#include "cartographer/io/proto_stream_interface.h"
#include "cartographer/mapping/id.h"
#include "cartographer/mapping/pose_graph_interface.h"
#include "cartographer/mapping/proto/map_builder_options.pb.h"
#include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
#include "cartographer/mapping/submaps.h"
#include "cartographer/mapping/trajectory_builder_interface.h"

namespace cartographer
{
    namespace mapping
    {

        proto::MapBuilderOptions CreateMapBuilderOptions(common::LuaParameterDictionary *const parameter_dictionary);

        // This interface is used for both library and RPC implementations.
        // Implementations wire up the complete SLAM stack.
        class MapBuilderInterface
        {
        public:
            using LocalSlamResultCallback = TrajectoryBuilderInterface::LocalSlamResultCallback;
            using SensorId = TrajectoryBuilderInterface::SensorId;

            MapBuilderInterface()
            {
            }
            virtual ~MapBuilderInterface()
            {
            }

            MapBuilderInterface(const MapBuilderInterface &) = delete;
            MapBuilderInterface &operator=(const MapBuilderInterface &) = delete;

            virtual int AddTrajectoryBuilder(const std::set<SensorId> &expected_sensor_ids,
                                             const proto::TrajectoryBuilderOptions &trajectory_options,
                                             LocalSlamResultCallback local_slam_result_callback) = 0;

            // Creates a new trajectory and returns its index. Querying the trajectory
            // builder for it will return 'nullptr'.
            virtual int AddTrajectoryForDeserialization(
                const proto::TrajectoryBuilderOptionsWithSensorIds &options_with_sensor_ids_proto) = 0;

            // Returns the 'TrajectoryBuilderInterface' corresponding to the specified
            // 'trajectory_id' or 'nullptr' if the trajectory has no corresponding
            // builder.
            virtual mapping::TrajectoryBuilderInterface *GetTrajectoryBuilder(int trajectory_id) const = 0;

            // Marks the TrajectoryBuilder corresponding to 'trajectory_id' as finished,
            // i.e. no further sensor data is expected.
            virtual void FinishTrajectory(int trajectory_id) = 0;

            // Fills the SubmapQuery::Response corresponding to 'submap_id'. Returns an
            // error string on failure, or an empty string on success.
            virtual std::string SubmapToProto(const SubmapId &submap_id, proto::SubmapQuery::Response *response) = 0;

            // Serializes the current state to a proto stream. If
            // 'include_unfinished_submaps' is set to true, unfinished submaps, i.e.
            // submaps that have not yet received all rangefinder data insertions, will
            // be included in the serialized state.
            virtual void SerializeState(bool include_unfinished_submaps, io::ProtoStreamWriterInterface *writer) = 0;

            // Serializes the current state to a proto stream file on the host system. If
            // 'include_unfinished_submaps' is set to true, unfinished submaps, i.e.
            // submaps that have not yet received all rangefinder data insertions, will
            // be included in the serialized state.
            // Returns true if the file was successfully written.
            virtual bool SerializeStateToFile(bool include_unfinished_submaps, const std::string &filename) = 0;

            // Loads the SLAM state from a proto stream. Returns the remapping of new
            // trajectory_ids.
            virtual std::map<int /* trajectory id in proto */, int /* trajectory id */> LoadState(io::ProtoStreamReaderInterface *reader,
                                                                                                  bool load_frozen_state) = 0;

            // Loads the SLAM state from a pbstream file. Returns the remapping of new
            // trajectory_ids.
            virtual std::map<int /* trajectory id in proto */, int /* trajectory id */> LoadStateFromFile(const std::string &filename,
                                                                                                          bool load_frozen_state) = 0;

            virtual int num_trajectory_builders() const = 0;

            virtual mapping::PoseGraphInterface *pose_graph() = 0;

            virtual const std::vector<proto::TrajectoryBuilderOptionsWithSensorIds> &GetAllTrajectoryBuilderOptions() const = 0;
        };

    } // namespace mapping
} // namespace cartographer

#endif // CARTOGRAPHER_MAPPING_MAP_BUILDER_INTERFACE_H_
